With advances in control theory and increasing capability of computers, more complicated mathematical models behind the controllers could be applied. On the other hand, a new difficulty appeared. Sophisticated controllers are more difficult to apply and commit. They are dependent on many tunable parameters, which have to be properly set up. Unfortunately, the meaning of these tuning parameters is mostly far from the user's understanding of the control task and his objective. In contrast to the case of PID controllers, only few articles about tuning of modern controllers are published. This...